JPH06278584A - Collision preventive automatic brake control method and device for vehicle - Google Patents
Collision preventive automatic brake control method and device for vehicleInfo
- Publication number
- JPH06278584A JPH06278584A JP5068229A JP6822993A JPH06278584A JP H06278584 A JPH06278584 A JP H06278584A JP 5068229 A JP5068229 A JP 5068229A JP 6822993 A JP6822993 A JP 6822993A JP H06278584 A JPH06278584 A JP H06278584A
- Authority
- JP
- Japan
- Prior art keywords
- vehicle
- inter
- automatic braking
- collision
- distance
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Landscapes
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Regulating Braking Force (AREA)
- Train Traffic Observation, Control, And Security (AREA)
Abstract
Description
【0001】[0001]
【産業上の利用分野】この発明は、自動車、電車等の車
両の衝突防止のために前方と後方の車間距離を安全な距
離に保ちながら、車両の制動装置を自動的に操作制御す
る車両の衝突防止自動制動方法及び装置に関するもので
ある。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle for automatically controlling the braking system of the vehicle while keeping the distance between the front and the rear at a safe distance to prevent collision of vehicles such as automobiles and trains. The present invention relates to a collision prevention automatic braking method and device.
【0002】[0002]
【従来の技術】従来先行例である車両用衝突防止自動制
動制御方法としては、例えば図1に示すような装置によ
って行うものがある。つまり先行例の装置にあっては、
先行車両と自車両の車間距離を検知するための車間距離
監視装置と、自動制動装置の組み合わせによって、安全
な車間距離に保持せしめるための自動制動制御を行う方
式である。2. Description of the Related Art A conventional collision prevention automatic braking control method for a vehicle, which is a conventional example, is performed by an apparatus shown in FIG. In other words, in the device of the preceding example,
This is a method of performing automatic braking control for maintaining a safe inter-vehicle distance by combining an inter-vehicle distance monitoring device for detecting the inter-vehicle distance between the preceding vehicle and the host vehicle and an automatic braking device.
【0003】すなわち、先行車両との車間距離監視装置
は、レーザレーダ装置1、車間距離表示装置2、自車両
の車速センサー3及び車間距離表示装置内に組込まれて
いる車間距離演算装置4、で構成し、それらの車間距離
情報に基づいて自動的にアクセル装置や制動機器を制御
する自動制動制御装置5を具備している。そして上記制
動機器は、ブレーキペダル装置6を制御する自動制動装
置7や、アクセルペダル装置8を制御する自動アクセル
解除装置9がある。そして上記のそれぞれの装置は、接
続配線10によって、接続されているものである。11
は排気制動装置(リターダ)、12は自動制動の電源ス
イッチ、13はイグニッションスイッチ、14はリター
ダスイッチ、15はステアリングシャフトの回動に伴な
って回動される舵角センサ、16は車間距離が設定値以
内になると警報を発するブザー、17はスロットルコン
トロールドラム、18はインテークマニホールドを示
す。That is, the inter-vehicle distance monitoring device for the preceding vehicle includes a laser radar device 1, an inter-vehicle distance display device 2, a vehicle speed sensor 3 of the own vehicle, and an inter-vehicle distance calculation device 4 incorporated in the inter-vehicle distance display device. The automatic braking control device 5 configured to automatically control the accelerator device and the braking device based on the inter-vehicle distance information is provided. The braking device includes an automatic braking device 7 that controls the brake pedal device 6 and an automatic accelerator release device 9 that controls the accelerator pedal device 8. The respective devices described above are connected by the connection wiring 10. 11
Is an exhaust braking device (retarder), 12 is a power switch for automatic braking, 13 is an ignition switch, 14 is a retarder switch, 15 is a steering angle sensor that is rotated along with the rotation of the steering shaft, and 16 is an inter-vehicle distance. A buzzer for issuing an alarm when the value is within a set value, 17 is a throttle control drum, and 18 is an intake manifold.
【0004】そして上記各機器(装置)を搭載する自車
両の走行時において、各機器を起動させれば、レーザレ
ーダ装置1により、前方の先行車両との車間距離が検知
され、この車間距離検知信号を基にしてその車間距離が
設定値以下に縮められれば、自車両の自動制動制御装置
5及び自動制動装置を駆動して自車両に自動的に制動を
かけて低速走行あるいは停止となして、前方車両との衝
突を防止することができるものである。When each device is activated while the vehicle equipped with the above-mentioned devices (apparatus) is running, the laser radar device 1 detects the inter-vehicle distance to the preceding vehicle ahead, and the inter-vehicle distance is detected. If the vehicle-to-vehicle distance is shortened to a set value or less on the basis of the signal, the automatic braking control device 5 and the automatic braking device of the own vehicle are driven to automatically brake the own vehicle to stop at low speed or stop. It is possible to prevent a collision with a vehicle ahead.
【0005】[0005]
【発明が解決しようとする課題】ところが、このような
従来の車両用衝突防止自動制動制御装置にあっては、自
車両の前方に位置されている先行車両や、障害物に対し
ては衝突防止ができても、後続車による追突防止策がな
されていない。However, in such a conventional vehicle collision prevention automatic braking control device, collision prevention is prevented for a preceding vehicle or an obstacle located in front of the host vehicle. Even if it is possible, there is no measure to prevent a rear-end collision with a following vehicle.
【0006】すなわち、自車両に急ブレーキをかけたと
き、後続車両の制動停止が間に合わないと、自車両に追
突される場合があり、自車両が被害を受けるだけではな
く、例えば追突された弾みで前方へ押し出されてしま
い、自動制動作用によって自車両が安全に止まれたにも
拘わらず前方車両に衝突してしまう場合があって、従来
の前方監視だけによる自車両の自動制動制御では、後方
車両の追突による玉突き事故を防止することはできない
という問題点があった。That is, when the vehicle is suddenly braked and the following vehicle is not braked in time, it may be collided with by the vehicle itself. In some cases, the vehicle may be pushed forward and the vehicle may collide with the vehicle in front even though the vehicle has been safely stopped by the automatic braking action. There is a problem that it is not possible to prevent a collision accident caused by a rear-end collision of a vehicle.
【0007】[0007]
【課題を解決するための手段】本発明は、このような従
来の問題点に着目してなされたもので、前方の車両や障
害物との距離を検知する前方レーザレーダ装置を具備し
て、前方車両等との距離が設定値以下となると自動制動
を行う車両用衝突防止自動制動制御装置を備えた自車両
の後方にも前方と同じくレーザレーダ装置を搭載して、
自車両の後方に於ける車両の有無や、追従車両との車間
距離の検知、あるいは後方車両の接近状態を監視すると
共に、前方車両への玉突き衝突を未然に防ぐための自動
制動装置の作動時期や制動の強さをプログラム制御し
て、後方車からの追突も有効に防止することができる車
両用衝突防止自動制動制御方法及び装置を提供すること
にある。SUMMARY OF THE INVENTION The present invention has been made by paying attention to such a conventional problem, and includes a front laser radar device for detecting a distance to a vehicle or an obstacle ahead. When the distance to the vehicle in front is equal to or less than the set value, the laser radar device is installed behind the vehicle equipped with a vehicle collision prevention automatic braking control device that automatically brakes, as in the front.
The timing of the automatic braking device to detect the presence of a vehicle behind the host vehicle, the distance between the vehicle and the following vehicle, or the approaching state of the vehicle behind, and to prevent a collision with the vehicle ahead. Another object of the present invention is to provide a vehicle collision-prevention automatic braking control method and device capable of effectively controlling a rear-end collision from a rear vehicle by program-controlling the strength of braking and braking.
【0008】[0008]
【実施例】以下に本発明を図2及び図3に示す実施例に
基づいて詳細に説明するが、本実施例の構造と従来例で
説明した構造との同一部分は、従来例で使用した符号を
付して、その同一構造部分の詳細説明を省略する。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described in detail below based on the embodiments shown in FIGS. 2 and 3. The same parts as the structure of this embodiment and the structure described in the conventional example are used in the conventional example. The same reference numerals are given and detailed description of the same structural parts is omitted.
【0009】図2において1は前方用レーザレーダ装
置、2は前方車間距離表示装置、3は自車両の車速セン
サー、4は前方車間距離表示装置2内に組込まれている
車間距離演算装置、5は自動制動制御装置、6はブレー
キペダル装置、7は自動制動装置、8はアクセルペダル
装置、9はアクセル解除装置、11は排気制動装置、1
2は自動制動電源スイッチ、13はイグニッションスイ
ッチ、14はリターダスイッチ、15は舵角センサ、1
6は警報ブザー、17はスロットルコントロールドラ
ム、18はインテークマニホールドを示すものであっ
て、これまでの構造は、基本的に従来例で示した自動制
動制御装置と同じである。In FIG. 2, 1 is a front laser radar device, 2 is a front inter-vehicle distance display device, 3 is a vehicle speed sensor of the own vehicle, 4 is a front inter-vehicle distance display device, and a inter-vehicle distance calculation device is shown. Is an automatic braking control device, 6 is a brake pedal device, 7 is an automatic braking device, 8 is an accelerator pedal device, 9 is an accelerator release device, 11 is an exhaust braking device, 1
2 is an automatic braking power switch, 13 is an ignition switch, 14 is a retarder switch, 15 is a steering angle sensor, 1
Reference numeral 6 is an alarm buzzer, 17 is a throttle control drum, and 18 is an intake manifold. The structure so far is basically the same as the automatic braking control device shown in the conventional example.
【0010】本実施例における特長は、自車両の後方追
従車両との車間距離を検知するための後方用レーザレー
ダ装置20と、自車両と後方車両との車間距離を表示す
る後方用車間距離表示装置21と、自車両が自動ブレー
キ作動中であることを後続車に知らせる表示器22と、
前記後方用車間距離表示装置21内に組込まれる後方用
車間距離演算装置23が増設されていることである。The features of this embodiment are that a rear laser radar device 20 for detecting the following distance between the host vehicle and a vehicle following the vehicle behind, and a following vehicle distance display for displaying the following distance between the subject vehicle and the following vehicle. A device 21 and an indicator 22 for notifying a following vehicle that the vehicle is in automatic braking operation,
That is, the rear inter-vehicle distance calculation device 23 incorporated in the rear inter-vehicle distance display device 21 is additionally provided.
【0011】以上が本実施例の構成であるが、次にその
作用について述べる。The configuration of this embodiment has been described above. Next, its operation will be described.
【0012】先行車両と自車両との車間距離を前方用レ
ーザレーダ装置1により検知すると共に、車速センサー
3によって自車両の速度を検知し、また前方車間距離演
算装置4では、先行車両の速度の算出や安全車間距離の
演算を行って、実際の車間距離と比較し、その車間距離
が危険な車間距離である場合は、自車両の後方に追従車
両の有無、あるいは車間距離の検知を後方用レーザレー
ダ装置20と後方車間距離演算装置23により行ない、
後方に車両がいない場合や、追従車両との車間距離が、
自車両の制動に対して十分広いと判断された場合は、自
動制動制御演算装置5からの信号で例えば第一段階とし
て、アクセル解除装置9を作動させる。また、後方に追
従走行車両がいる場合は、後方車両へ自車両が減速する
ことを、表示器22の点灯によって後方の追従車両運転
者に知らせる。The inter-vehicle distance between the preceding vehicle and the own vehicle is detected by the front laser radar device 1, the speed of the own vehicle is detected by the vehicle speed sensor 3, and the front inter-vehicle distance calculation device 4 detects the speed of the preceding vehicle. Calculate and calculate the safe inter-vehicle distance, compare it with the actual inter-vehicle distance, and if the inter-vehicle distance is dangerous, check if there is a following vehicle behind your vehicle or detect the inter-vehicle distance. It is performed by the laser radar device 20 and the rear-vehicle distance calculation device 23,
If there is no vehicle behind, or the following distance between
When it is determined that the vehicle is sufficiently wide for braking, the accelerator release device 9 is activated as a first step by a signal from the automatic braking control computing device 5, for example. Further, when there is a following traveling vehicle behind, the driver of the following vehicle behind is notified by lighting the display 22 that the own vehicle is decelerating to the following vehicle.
【0013】第二段階としては、上記第一段階の作動で
も、先行車両との車間距離が広がらず、先行車両と自車
両との安全車間距離を維持できない場合は、排気制動装
置(リターダブレーキ)11を作動させて制動をかける
信号がだされる。この時も第一段階のアクセル解除のま
まで、追従車両には、表示器22を点灯してブレーキが
作動中であることを警報している。In the second step, if the inter-vehicle distance to the preceding vehicle is not widened and the safe inter-vehicle distance between the preceding vehicle and the host vehicle cannot be maintained even in the operation in the first step, an exhaust braking device (retarder brake) A signal is issued that activates 11 to brake. At this time as well, the accelerator release in the first stage is still maintained, and the following vehicle is warned by lighting the indicator 22 to indicate that the brake is in operation.
【0014】第三段階では、前方車間距離演算装置4が
先行車両が低速走行車両と判断した場合であり、第一段
階、第二段階の制御に加え、自動制動装置7を作動する
信号が出る。この出力信号により例えば減速度が0.3
Gとなるようにブレーキペダル装置6を作動し、制動を
行ない前方車両への追突防止を図ると同時に表示器22
は点灯し後方の運転者に警報する。第四段階では例えば
0.5〜0.6Gで制動する。In the third stage, the front inter-vehicle distance computing device 4 determines that the preceding vehicle is a low-speed traveling vehicle. In addition to the control in the first and second stages, a signal for operating the automatic braking device 7 is issued. . With this output signal, for example, the deceleration is 0.3
The brake pedal device 6 is operated so as to attain G, and braking is performed to prevent a rear-end collision with a vehicle in front, and at the same time, the display 22
Lights up and warns the driver behind. In the fourth stage, braking is performed at 0.5 to 0.6 G, for example.
【0015】また、後方の追従車両が極端に狭い車間距
離で接近している場合は、自車両の運転者に対して後方
車両の車間距離表示装置21に、車間距離を表示すると
共に警報を発生させ、急制動操作を行なわない様、運転
者に注意を促すことができる。この場合は、前方車両と
の車間距離を通常の安全車間距離より長く取る必要があ
る。自動制動制御演算装置5は後方用車間距離演算装置
23からの後方車両との車間距離によって、先行車両と
の車間距離を広く取って、各段階の制動操作を行なう。
特に、第三段階の信号や、停止車両を検知した時の第四
段階の信号では後方車両との車間距離の影響を受けて、
自車両が急制動を行なわずに停車できる安全車間距離で
作動を開始する。表示器22が早めに点灯するので、後
方車両が自車両へ追突して来ることを自車両側で抑止で
きるように、自動制動制御装置の演算アルゴリズムを作
成してある。Further, when the following vehicle is approaching at an extremely narrow inter-vehicle distance, the inter-vehicle distance is displayed on the inter-vehicle distance display device 21 of the rear vehicle and an alarm is issued to the driver of the own vehicle. Thus, the driver can be warned not to perform the sudden braking operation. In this case, it is necessary to set the inter-vehicle distance to the vehicle in front longer than the normal safety inter-vehicle distance. The automatic braking control computing device 5 widens the inter-vehicle distance from the preceding vehicle based on the inter-vehicle distance from the rear inter-vehicle distance computing device 23 to the rear vehicle, and performs the braking operation at each stage.
In particular, the signal of the third stage and the signal of the fourth stage when a stopped vehicle is detected are affected by the inter-vehicle distance to the rear vehicle,
The vehicle starts operating at a safe inter-vehicle distance that allows it to stop without applying sudden braking. Since the display 22 is turned on early, the calculation algorithm of the automatic braking control device is created so that the own vehicle can prevent the rear vehicle from colliding with the own vehicle.
【0016】図3は本発明の他の実施例を示すものであ
って、この実施例の構造は、前記実施例の構成に対し
て、指向性アンテナ24を有する電波発信装置25を付
加せしめたものである。FIG. 3 shows another embodiment of the present invention. In the structure of this embodiment, a radio wave transmission device 25 having a directional antenna 24 is added to the structure of the above embodiment. It is a thing.
【0017】つまりこの実施例にあっては、自動制動制
御演算処理装置5が、自動制動の信号を発信した場合、
車両後方に設けた指向性アンテナ24により後方の追従
車両に対して、制動を開始したことを知らせる電波発信
装置22を装着したものである。That is, in this embodiment, when the automatic braking control arithmetic processing unit 5 transmits a signal of automatic braking,
A radio wave transmission device 22 for notifying that braking has started is attached to a following vehicle behind by a directional antenna 24 provided at the rear of the vehicle.
【0018】後方の車両に電波を受信する装置がない場
合もあるが、大型の運送トラックには簡易無線装置等を
搭載していることが多いので、それらの簡易無線装置等
を利用することで先行車両が自動制動作動中であること
を受信させることができる。これによって、後方車両の
運転者に対して無線手段で安全運転の注意を喚起させる
ことができる。Although there is a case where a vehicle behind does not have a device for receiving radio waves, a large transport truck is often equipped with a simple radio device or the like. Therefore, it is possible to use such a simple radio device or the like. The fact that the preceding vehicle is in the automatic braking operation can be received. As a result, the driver of the rear vehicle can be alerted to the safe driving by wireless means.
【0019】[0019]
【発明の効果】以上述べたように本発明は、先行車両へ
の追突や衝突を防止するための自動制動制御装置が搭載
される車両において、後方用レーザレーダ装置及び後方
用車間距離演算装置を具備せしめて、後方の追従車両の
有無や、追従車両との車間距離を検知し、前方車両の車
間距離と後方の追従車両の車間距離と自車速の状態を検
知して、自動制動の開始車間距離や条件を制動の強さに
より数段階に分けて制御すると共に、後方の追従車両に
先行車の制動の状態を信号灯火等により知らせるように
した車両用衝突防止自動制御方法及び装置であるから、
これによれば自車両が先行車両に追突すること及び後続
の追従車両が自車両に追突することが有効に防止できる
と共に、急制動を避けた自動制動が行なえる。As described above, the present invention provides a rear laser radar device and a rear inter-vehicle distance calculation device in a vehicle equipped with an automatic braking control device for preventing a rear-end collision or collision with a preceding vehicle. If possible, the presence or absence of the following vehicle behind and the following distance between the following vehicles are detected, and the following distance between the preceding vehicle, the following distance between the following following vehicles, and the state of the own vehicle speed are detected, and automatic braking starts This is an automatic collision prevention control method and device for a vehicle that controls the distance and conditions in several stages according to the strength of braking, and informs the following vehicle behind of the braking state of the preceding vehicle by signal lights. ,
According to this, it is possible to effectively prevent the own vehicle from colliding with the preceding vehicle and the following following vehicle from colliding with the own vehicle, and it is possible to perform automatic braking avoiding sudden braking.
【0020】また、各種の制動装置が作動すると同時に
後方車両に対して、信号灯火等の報知器を用いて、自車
両が先行車両に近づき過ぎて制動を開始したことを知ら
せ、後続車の運転者が早めに制動装置を操作して、車間
距離を広くして追突防止がなされ、安全運転に役立つと
いう効果が得られる。At the same time when the various braking devices are activated, the following vehicle is informed that the own vehicle is too close to the preceding vehicle to start braking by using an alarm such as a signal light. The person operates the braking device earlier to widen the inter-vehicle distance to prevent a rear-end collision, which is effective for safe driving.
【図面の簡単な説明】[Brief description of drawings]
【図1】従来例の車両衝突防止自動制動制御装置の説明
図。FIG. 1 is an explanatory diagram of a conventional vehicle collision prevention automatic braking control device.
【図2】本発明実施例の車両衝突防止自動制動制御装置
の説明図。FIG. 2 is an explanatory diagram of a vehicle collision prevention automatic braking control device according to an embodiment of the present invention.
【図3】本発明実施例の他の実施例を示した車両衝突防
止自動制動制御装置の説明図。FIG. 3 is an explanatory diagram of a vehicle collision prevention automatic braking control device showing another embodiment of the present invention.
1…レーザレーダ装置 2…車間距離表
示装置 3…車速センサー 4…車間距離演
算装置 5…自動制動制御装置 6…ブレーキペ
ダル装置 7…自動制動装置 8…アクセルペ
ダル装置 9…自動アクセル解除装置 10…接続配線 11…排気制動装置 12…自動制動
の電源スイッチ 13…イグニッションスイッチ 14…リターダ
スイッチ 15…舵角センサ 16…警報ブザ
ー 17…スロットルコントロールドラム 18…インテー
クマニホールド 20…後方用レーザレーダ装置 21…後方用車
間距離表示装置 22…表示器 23…後方用車
間距離演算装置 24…指向性アンテナ 25…電波発信
装置DESCRIPTION OF SYMBOLS 1 ... Laser radar device 2 ... Inter-vehicle distance display device 3 ... Vehicle speed sensor 4 ... Inter-vehicle distance calculation device 5 ... Automatic braking control device 6 ... Brake pedal device 7 ... Automatic braking device 8 ... Accelerator pedal device 9 ... Automatic accelerator release device 10 ... Connection wiring 11 ... Exhaust braking device 12 ... Automatic braking power switch 13 ... Ignition switch 14 ... Retarder switch 15 ... Steering angle sensor 16 ... Warning buzzer 17 ... Throttle control drum 18 ... Intake manifold 20 ... Rear laser radar device 21 ... Rear Inter-vehicle distance display device 22 ... Display device 23 ... Rear inter-vehicle distance calculation device 24 ... Directional antenna 25 ... Radio wave transmission device
Claims (4)
制動作動装置に於いて、前方先行車両と後方追従走行車
両それぞれの車間距離を検知し、先行車両との車間距離
が狭まり先行車両への衝突の危険が迫った時に自車両が
自動制動を行う場合、後方車両が自車両に追突しない様
に、後方車両との車間距離も関連させて、自車両の自動
制動作動条件や制動時期を制御する様にしたことを特徴
とする車両用衝突防止自動制動制御方法。1. An automatic braking actuating device for preventing a collision of an automobile or a railroad vehicle detects the inter-vehicle distances of a front preceding vehicle and a rear following vehicle, and the inter-vehicle distance between the preceding vehicle and the preceding vehicle is reduced. When the host vehicle automatically brakes when the danger of a collision approaches, the conditions for automatic braking of the host vehicle and the braking timing are controlled by relating the inter-vehicle distance to the rear vehicle so that the rear vehicle does not collide with the host vehicle. A collision-prevention automatic braking control method for a vehicle, which is characterized in that
の自動制動制御装置を搭載してなる車両において、追従
する車両の車間を検知するための後方用レーザレーダ装
置及び後方用車間距離演算装置を具備せしめたことを特
徴とする車両用衝突防止自動制動制御装置。2. A rear laser radar device and a rear inter-vehicle distance calculation for detecting an inter-vehicle distance of a following vehicle in a vehicle equipped with an automatic braking control device for preventing a rear-end collision or a collision with a preceding vehicle. A collision-prevention automatic braking control device for a vehicle, which is equipped with a device.
て、自動制動を開始したことを追従車両に知らせるため
の点灯表示器を具備せしめたことを特徴とする車両用衝
突防止自動制動制御装置。3. The vehicle collision prevention automatic braking control device according to claim 2, further comprising a lighting indicator for notifying a following vehicle that automatic braking has started.
において、自動制動を開始したことを、電波信号により
追従車両に知らせる発信装置を具備せしめたことを特徴
とする車両用衝突防止自動制動制御装置。4. The automatic collision control automatic braking system for vehicles according to claim 2 or 3, further comprising a transmission device for notifying a following vehicle of the start of automatic braking by a radio signal. Control device.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP5068229A JPH06278584A (en) | 1993-03-26 | 1993-03-26 | Collision preventive automatic brake control method and device for vehicle |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP5068229A JPH06278584A (en) | 1993-03-26 | 1993-03-26 | Collision preventive automatic brake control method and device for vehicle |
Publications (1)
Publication Number | Publication Date |
---|---|
JPH06278584A true JPH06278584A (en) | 1994-10-04 |
Family
ID=13367767
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP5068229A Pending JPH06278584A (en) | 1993-03-26 | 1993-03-26 | Collision preventive automatic brake control method and device for vehicle |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPH06278584A (en) |
Cited By (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2000233663A (en) * | 1999-02-16 | 2000-08-29 | Honda Access Corp | Control device of distance between cars |
JP2000233662A (en) * | 1999-02-16 | 2000-08-29 | Honda Access Corp | Control device for distance between cars |
JP2002052952A (en) * | 2000-08-11 | 2002-02-19 | Nissan Motor Co Ltd | Traveling control device for vehicle |
WO2007023666A1 (en) * | 2005-08-24 | 2007-03-01 | Hino Motors, Ltd. | Automatic brake control device |
JP2007084046A (en) * | 2005-08-24 | 2007-04-05 | Hino Motors Ltd | Automatic brake control device |
JP2008290600A (en) * | 2007-05-25 | 2008-12-04 | Nissan Diesel Motor Co Ltd | Travel control device of vehicle |
JP4709360B2 (en) * | 1999-09-17 | 2011-06-22 | ロベルト・ボッシュ・ゲゼルシャフト・ミト・ベシュレンクテル・ハフツング | Brake device control method and device |
JP2011181108A (en) * | 2011-06-10 | 2011-09-15 | Toyota Motor Corp | Vehicle information providing apparatus |
JP2014210571A (en) * | 2013-04-01 | 2014-11-13 | 株式会社神戸製鋼所 | Vehicle collision warning system |
TWI680895B (en) * | 2018-11-09 | 2020-01-01 | 財團法人資訊工業策進會 | Automatic braking system and method thereof |
JP2020126686A (en) * | 2013-03-25 | 2020-08-20 | エイディシーテクノロジー株式会社 | Railway vehicle |
-
1993
- 1993-03-26 JP JP5068229A patent/JPH06278584A/en active Pending
Cited By (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2000233663A (en) * | 1999-02-16 | 2000-08-29 | Honda Access Corp | Control device of distance between cars |
JP2000233662A (en) * | 1999-02-16 | 2000-08-29 | Honda Access Corp | Control device for distance between cars |
JP4709360B2 (en) * | 1999-09-17 | 2011-06-22 | ロベルト・ボッシュ・ゲゼルシャフト・ミト・ベシュレンクテル・ハフツング | Brake device control method and device |
JP2002052952A (en) * | 2000-08-11 | 2002-02-19 | Nissan Motor Co Ltd | Traveling control device for vehicle |
WO2007023666A1 (en) * | 2005-08-24 | 2007-03-01 | Hino Motors, Ltd. | Automatic brake control device |
JP2007084046A (en) * | 2005-08-24 | 2007-04-05 | Hino Motors Ltd | Automatic brake control device |
JP2008290600A (en) * | 2007-05-25 | 2008-12-04 | Nissan Diesel Motor Co Ltd | Travel control device of vehicle |
JP2011181108A (en) * | 2011-06-10 | 2011-09-15 | Toyota Motor Corp | Vehicle information providing apparatus |
JP2020126686A (en) * | 2013-03-25 | 2020-08-20 | エイディシーテクノロジー株式会社 | Railway vehicle |
JP2014210571A (en) * | 2013-04-01 | 2014-11-13 | 株式会社神戸製鋼所 | Vehicle collision warning system |
TWI680895B (en) * | 2018-11-09 | 2020-01-01 | 財團法人資訊工業策進會 | Automatic braking system and method thereof |
CN111169445A (en) * | 2018-11-09 | 2020-05-19 | 财团法人资讯工业策进会 | Automatic braking system and method |
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